/****************************************************************************
 * drivers/sensors/bmi270_base.c
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

# include "bmi270_base.h"

/****************************************************************************
 * Public Data
 ****************************************************************************/

/* BMI270 configuration file - provided by BOSCH */

const uint8_t g_bmi270_config_file[] =
{
  0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e,
  0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, 0xb0, 0x80, 0x2e, 0xa3, 0x03,
  0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e,
  0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03,
  0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, 0x00, 0x75, 0x00,
  0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00,
  0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00,
  0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0xe0, 0xaa, 0x38,
  0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00,
  0x11, 0x00, 0x02, 0x00, 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a,
  0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, 0x04,
  0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00,
  0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00,
  0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00,
  0xee, 0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05,
  0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00, 0x85, 0x07, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00,
  0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde, 0x00, 0xeb, 0x00,
  0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5,
  0xc9, 0x01, 0x1e, 0xf2, 0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5,
  0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd, 0x01,
  0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7,
  0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f, 0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe,
  0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01,
  0x58, 0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01,
  0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01, 0x88, 0x01, 0x8a, 0x01,
  0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00,
  0x9f, 0x01, 0x7e, 0x01, 0xdb, 0x00, 0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3,
  0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05, 0x37, 0xfa,
  0xa2, 0x01, 0xaa, 0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05,
  0xb4, 0x01, 0xb4, 0x01, 0xce, 0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01,
  0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5,
  0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80,
  0x6d, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2, 0xf5, 0x68, 0xf7, 0xb3, 0xf1,
  0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f, 0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7,
  0x83, 0x0f, 0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f,
  0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87, 0x0f, 0x8a, 0x0f,
  0xff, 0x03, 0xf0, 0x3f, 0x8b, 0x00, 0x8e, 0x00, 0x90, 0x00, 0xb9, 0x00,
  0x2d, 0xf5, 0xca, 0xf5, 0xcb, 0x01, 0x20, 0xf2, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x30, 0x50, 0x98, 0x2e, 0xd7, 0x0e, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03,
  0x00, 0x30, 0xf0, 0x7f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x00, 0x2e,
  0x01, 0x80, 0x08, 0xa2, 0xfb, 0x2f, 0x98, 0x2e, 0xba, 0x03, 0x21, 0x2e,
  0x19, 0x00, 0x01, 0x2e, 0xee, 0x00, 0x00, 0xb2, 0x07, 0x2f, 0x01, 0x2e,
  0x19, 0x00, 0x00, 0xb2, 0x03, 0x2f, 0x01, 0x50, 0x03, 0x52, 0x98, 0x2e,
  0x07, 0xcc, 0x01, 0x2e, 0xdd, 0x00, 0x00, 0xb2, 0x27, 0x2f, 0x05, 0x2e,
  0x8a, 0x00, 0x05, 0x52, 0x98, 0x2e, 0xc7, 0xc1, 0x03, 0x2e, 0xe9, 0x00,
  0x40, 0xb2, 0xf0, 0x7f, 0x08, 0x2f, 0x01, 0x2e, 0x19, 0x00, 0x00, 0xb2,
  0x04, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0xe9, 0x00, 0x98, 0x2e, 0xb4, 0xb1,
  0x01, 0x2e, 0x18, 0x00, 0x00, 0xb2, 0x10, 0x2f, 0x05, 0x50, 0x98, 0x2e,
  0x4d, 0xc3, 0x05, 0x50, 0x98, 0x2e, 0x5a, 0xc7, 0x98, 0x2e, 0xf9, 0xb4,
  0x98, 0x2e, 0x54, 0xb2, 0x98, 0x2e, 0x67, 0xb6, 0x98, 0x2e, 0x17, 0xb2,
  0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x01, 0x2e, 0xef, 0x00, 0x00, 0xb2,
  0x04, 0x2f, 0x98, 0x2e, 0x7a, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xef, 0x00,
  0x01, 0x2e, 0xd4, 0x00, 0x04, 0xae, 0x0b, 0x2f, 0x01, 0x2e, 0xdd, 0x00,
  0x00, 0xb2, 0x07, 0x2f, 0x05, 0x52, 0x98, 0x2e, 0x8e, 0x0e, 0x00, 0xb2,
  0x02, 0x2f, 0x10, 0x30, 0x21, 0x2e, 0x7d, 0x00, 0x01, 0x2e, 0x7d, 0x00,
  0x00, 0x90, 0x90, 0x2e, 0xf1, 0x02, 0x01, 0x2e, 0xd7, 0x00, 0x00, 0xb2,
  0x04, 0x2f, 0x98, 0x2e, 0x2f, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0x7b, 0x00,
  0x01, 0x2e, 0x7b, 0x00, 0x00, 0xb2, 0x12, 0x2f, 0x01, 0x2e, 0xd4, 0x00,
  0x00, 0x90, 0x02, 0x2f, 0x98, 0x2e, 0x1f, 0x0e, 0x09, 0x2d, 0x98, 0x2e,
  0x81, 0x0d, 0x01, 0x2e, 0xd4, 0x00, 0x04, 0x90, 0x02, 0x2f, 0x50, 0x32,
  0x98, 0x2e, 0xfa, 0x03, 0x00, 0x30, 0x21, 0x2e, 0x7b, 0x00, 0x01, 0x2e,
  0x7c, 0x00, 0x00, 0xb2, 0x90, 0x2e, 0x09, 0x03, 0x01, 0x2e, 0x7c, 0x00,
  0x01, 0x31, 0x01, 0x08, 0x00, 0xb2, 0x04, 0x2f, 0x98, 0x2e, 0x47, 0xcb,
  0x10, 0x30, 0x21, 0x2e, 0x77, 0x00, 0x81, 0x30, 0x01, 0x2e, 0x7c, 0x00,
  0x01, 0x08, 0x00, 0xb2, 0x61, 0x2f, 0x03, 0x2e, 0x89, 0x00, 0x01, 0x2e,
  0xd4, 0x00, 0x98, 0xbc, 0x98, 0xb8, 0x05, 0xb2, 0x0f, 0x58, 0x23, 0x2f,
  0x07, 0x90, 0x09, 0x54, 0x00, 0x30, 0x37, 0x2f, 0x15, 0x41, 0x04, 0x41,
  0xdc, 0xbe, 0x44, 0xbe, 0xdc, 0xba, 0x2c, 0x01, 0x61, 0x00, 0x0f, 0x56,
  0x4a, 0x0f, 0x0c, 0x2f, 0xd1, 0x42, 0x94, 0xb8, 0xc1, 0x42, 0x11, 0x30,
  0x05, 0x2e, 0x6a, 0xf7, 0x2c, 0xbd, 0x2f, 0xb9, 0x80, 0xb2, 0x08, 0x22,
  0x98, 0x2e, 0xc3, 0xb7, 0x21, 0x2d, 0x61, 0x30, 0x23, 0x2e, 0xd4, 0x00,
  0x98, 0x2e, 0xc3, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0x5a, 0xf5, 0x18, 0x2d,
  0xe1, 0x7f, 0x50, 0x30, 0x98, 0x2e, 0xfa, 0x03, 0x0f, 0x52, 0x07, 0x50,
  0x50, 0x42, 0x70, 0x30, 0x0d, 0x54, 0x42, 0x42, 0x7e, 0x82, 0xe2, 0x6f,
  0x80, 0xb2, 0x42, 0x42, 0x05, 0x2f, 0x21, 0x2e, 0xd4, 0x00, 0x10, 0x30,
  0x98, 0x2e, 0xc3, 0xb7, 0x03, 0x2d, 0x60, 0x30, 0x21, 0x2e, 0xd4, 0x00,
  0x01, 0x2e, 0xd4, 0x00, 0x06, 0x90, 0x18, 0x2f, 0x01, 0x2e, 0x76, 0x00,
  0x0b, 0x54, 0x07, 0x52, 0xe0, 0x7f, 0x98, 0x2e, 0x7a, 0xc1, 0xe1, 0x6f,
  0x08, 0x1a, 0x40, 0x30, 0x08, 0x2f, 0x21, 0x2e, 0xd4, 0x00, 0x20, 0x30,
  0x98, 0x2e, 0xaf, 0xb7, 0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x05, 0x2d,
  0x98, 0x2e, 0x38, 0x0e, 0x00, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x00, 0x30,
  0x21, 0x2e, 0x7c, 0x00, 0x18, 0x2d, 0x01, 0x2e, 0xd4, 0x00, 0x03, 0xaa,
  0x01, 0x2f, 0x98, 0x2e, 0x45, 0x0e, 0x01, 0x2e, 0xd4, 0x00, 0x3f, 0x80,
  0x03, 0xa2, 0x01, 0x2f, 0x00, 0x2e, 0x02, 0x2d, 0x98, 0x2e, 0x5b, 0x0e,
  0x30, 0x30, 0x98, 0x2e, 0xce, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0x7d, 0x00,
  0x50, 0x32, 0x98, 0x2e, 0xfa, 0x03, 0x01, 0x2e, 0x77, 0x00, 0x00, 0xb2,
  0x24, 0x2f, 0x98, 0x2e, 0xf5, 0xcb, 0x03, 0x2e, 0xd5, 0x00, 0x11, 0x54,
  0x01, 0x0a, 0xbc, 0x84, 0x83, 0x86, 0x21, 0x2e, 0xc9, 0x01, 0xe0, 0x40,
  0x13, 0x52, 0xc4, 0x40, 0x82, 0x40, 0xa8, 0xb9, 0x52, 0x42, 0x43, 0xbe,
  0x53, 0x42, 0x04, 0x0a, 0x50, 0x42, 0xe1, 0x7f, 0xf0, 0x31, 0x41, 0x40,
  0xf2, 0x6f, 0x25, 0xbd, 0x08, 0x08, 0x02, 0x0a, 0xd0, 0x7f, 0x98, 0x2e,
  0xa8, 0xcf, 0x06, 0xbc, 0xd1, 0x6f, 0xe2, 0x6f, 0x08, 0x0a, 0x80, 0x42,
  0x98, 0x2e, 0x58, 0xb7, 0x00, 0x30, 0x21, 0x2e, 0xee, 0x00, 0x21, 0x2e,
  0x77, 0x00, 0x21, 0x2e, 0xdd, 0x00, 0x80, 0x2e, 0xf4, 0x01, 0x1a, 0x24,
  0x22, 0x00, 0x80, 0x2e, 0xec, 0x01, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e,
  0xf3, 0x03, 0x57, 0x50, 0xfb, 0x6f, 0x01, 0x30, 0x71, 0x54, 0x11, 0x42,
  0x42, 0x0e, 0xfc, 0x2f, 0xc0, 0x2e, 0x01, 0x42, 0xf0, 0x5f, 0x80, 0x2e,
  0x00, 0xc1, 0xfd, 0x2d, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x9a, 0x01, 0x34, 0x03, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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  0x30, 0x30, 0x21, 0x2e, 0xd4, 0x00, 0x12, 0x2d, 0x21, 0x30, 0x00, 0x30,
  0x23, 0x2e, 0xd4, 0x00, 0x21, 0x2e, 0x7b, 0xf7, 0x0b, 0x2d, 0x17, 0x30,
  0x98, 0x2e, 0x51, 0x0c, 0xd5, 0x50, 0x0c, 0x82, 0x72, 0x30, 0x2f, 0x2e,
  0xd4, 0x00, 0x25, 0x2e, 0x7b, 0xf7, 0x40, 0x42, 0x00, 0x2e, 0xfb, 0x6f,
  0xf0, 0x5f, 0xb8, 0x2e, 0x70, 0x50, 0x0a, 0x25, 0x39, 0x86, 0xfb, 0x7f,
  0xe1, 0x32, 0x62, 0x30, 0x98, 0x2e, 0xc2, 0xc4, 0xb5, 0x56, 0xa5, 0x6f,
  0xab, 0x08, 0x91, 0x6f, 0x4b, 0x08, 0xdf, 0x56, 0xc4, 0x6f, 0x23, 0x09,
  0x4d, 0xba, 0x93, 0xbc, 0x8c, 0x0b, 0xd1, 0x6f, 0x0b, 0x09, 0xcb, 0x52,
  0xe1, 0x5e, 0x56, 0x42, 0xaf, 0x09, 0x4d, 0xba, 0x23, 0xbd, 0x94, 0x0a,
  0xe5, 0x6f, 0x68, 0xbb, 0xeb, 0x08, 0xbd, 0xb9, 0x63, 0xbe, 0xfb, 0x6f,
  0x52, 0x42, 0xe3, 0x0a, 0xc0, 0x2e, 0x43, 0x42, 0x90, 0x5f, 0xd1, 0x50,
  0x03, 0x2e, 0x25, 0xf3, 0x13, 0x40, 0x00, 0x40, 0x9b, 0xbc, 0x9b, 0xb4,
  0x08, 0xbd, 0xb8, 0xb9, 0x98, 0xbc, 0xda, 0x0a, 0x08, 0xb6, 0x89, 0x16,
  0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e,
  0x81, 0x0d, 0x01, 0x2e, 0xd4, 0x00, 0x31, 0x30, 0x08, 0x04, 0xfb, 0x6f,
  0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd6, 0x00, 0x21, 0x2e, 0xd7, 0x00,
  0xb8, 0x2e, 0x01, 0x2e, 0xd7, 0x00, 0x03, 0x2e, 0xd6, 0x00, 0x48, 0x0e,
  0x01, 0x2f, 0x80, 0x2e, 0x1f, 0x0e, 0xb8, 0x2e, 0xe3, 0x50, 0x21, 0x34,
  0x01, 0x42, 0x82, 0x30, 0xc1, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x01, 0x00,
  0x22, 0x30, 0x01, 0x40, 0x4a, 0x0a, 0x01, 0x42, 0xb8, 0x2e, 0xe3, 0x54,
  0xf0, 0x3b, 0x83, 0x40, 0xd8, 0x08, 0xe5, 0x52, 0x83, 0x42, 0x00, 0x30,
  0x83, 0x30, 0x50, 0x42, 0xc4, 0x32, 0x27, 0x2e, 0x64, 0xf5, 0x94, 0x00,
  0x50, 0x42, 0x40, 0x42, 0xd3, 0x3f, 0x84, 0x40, 0x7d, 0x82, 0xe3, 0x08,
  0x40, 0x42, 0x83, 0x42, 0xb8, 0x2e, 0xdd, 0x52, 0x00, 0x30, 0x40, 0x42,
  0x7c, 0x86, 0xb9, 0x52, 0x09, 0x2e, 0x70, 0x0f, 0xbf, 0x54, 0xc4, 0x42,
  0xd3, 0x86, 0x54, 0x40, 0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e,
  0xd7, 0x00, 0x42, 0x40, 0x25, 0x2e, 0xfd, 0xf3, 0xc0, 0x42, 0x7e, 0x82,
  0x05, 0x2e, 0x7d, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x89, 0x00,
  0x27, 0xbd, 0x2f, 0xb9, 0x80, 0x90, 0x02, 0x2f, 0x21, 0x2e, 0x6f, 0xf5,
  0x0c, 0x2d, 0x07, 0x2e, 0x71, 0x0f, 0x14, 0x30, 0x1c, 0x09, 0x05, 0x2e,
  0x77, 0xf7, 0xbd, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e,
  0x77, 0xf7, 0xe7, 0x54, 0x50, 0x42, 0x4a, 0x0e, 0xfc, 0x2f, 0xb8, 0x2e,
  0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0xe5, 0x50, 0xfb, 0x7f, 0xe3, 0x7f,
  0xd2, 0x7f, 0xc0, 0x7f, 0xb1, 0x7f, 0x00, 0x2e, 0x41, 0x40, 0x00, 0x40,
  0x48, 0x04, 0x98, 0x2e, 0x74, 0xc0, 0x1e, 0xaa, 0xd3, 0x6f, 0x14, 0x30,
  0xb1, 0x6f, 0xe3, 0x22, 0xc0, 0x6f, 0x52, 0x40, 0xe4, 0x6f, 0x4c, 0x0e,
  0x12, 0x42, 0xd3, 0x7f, 0xeb, 0x2f, 0x03, 0x2e, 0x86, 0x0f, 0x40, 0x90,
  0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x86, 0x0f, 0x02, 0x2c, 0x00, 0x30,
  0xd0, 0x6f, 0xfb, 0x6f, 0xb0, 0x5f, 0xb8, 0x2e, 0x40, 0x50, 0xf1, 0x7f,
  0x0a, 0x25, 0x3c, 0x86, 0xeb, 0x7f, 0x41, 0x33, 0x22, 0x30, 0x98, 0x2e,
  0xc2, 0xc4, 0xd3, 0x6f, 0xf4, 0x30, 0xdc, 0x09, 0x47, 0x58, 0xc2, 0x6f,
  0x94, 0x09, 0xeb, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd,
  0xe9, 0x5a, 0x95, 0x08, 0x21, 0xbd, 0xf6, 0xbf, 0x77, 0x0b, 0x51, 0xbe,
  0xf1, 0x6f, 0xeb, 0x6f, 0x52, 0x42, 0x54, 0x42, 0xc0, 0x2e, 0x43, 0x42,
  0xc0, 0x5f, 0x50, 0x50, 0xf5, 0x50, 0x31, 0x30, 0x11, 0x42, 0xfb, 0x7f,
  0x7b, 0x30, 0x0b, 0x42, 0x11, 0x30, 0x02, 0x80, 0x23, 0x33, 0x01, 0x42,
  0x03, 0x00, 0x07, 0x2e, 0x80, 0x03, 0x05, 0x2e, 0xd3, 0x00, 0x23, 0x52,
  0xe2, 0x7f, 0xd3, 0x7f, 0xc0, 0x7f, 0x98, 0x2e, 0xb6, 0x0e, 0xd1, 0x6f,
  0x08, 0x0a, 0x1a, 0x25, 0x7b, 0x86, 0xd0, 0x7f, 0x01, 0x33, 0x12, 0x30,
  0x98, 0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x08, 0x0a, 0x00, 0xb2, 0x0d, 0x2f,
  0xe3, 0x6f, 0x01, 0x2e, 0x80, 0x03, 0x51, 0x30, 0xc7, 0x86, 0x23, 0x2e,
  0x21, 0xf2, 0x08, 0xbc, 0xc0, 0x42, 0x98, 0x2e, 0xa5, 0xb7, 0x00, 0x2e,
  0x00, 0x2e, 0xd0, 0x2e, 0xb0, 0x6f, 0x0b, 0xb8, 0x03, 0x2e, 0x1b, 0x00,
  0x08, 0x1a, 0xb0, 0x7f, 0x70, 0x30, 0x04, 0x2f, 0x21, 0x2e, 0x21, 0xf2,
  0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e,
  0x5d, 0xc0, 0xed, 0x50, 0x98, 0x2e, 0x44, 0xcb, 0xef, 0x50, 0x98, 0x2e,
  0x46, 0xc3, 0xf1, 0x50, 0x98, 0x2e, 0x53, 0xc7, 0x35, 0x50, 0x98, 0x2e,
  0x64, 0xcf, 0x10, 0x30, 0x98, 0x2e, 0xdc, 0x03, 0x20, 0x26, 0xc0, 0x6f,
  0x02, 0x31, 0x12, 0x42, 0xab, 0x33, 0x0b, 0x42, 0x37, 0x80, 0x01, 0x30,
  0x01, 0x42, 0xf3, 0x37, 0xf7, 0x52, 0xfb, 0x50, 0x44, 0x40, 0xa2, 0x0a,
  0x42, 0x42, 0x8b, 0x31, 0x09, 0x2e, 0x5e, 0xf7, 0xf9, 0x54, 0xe3, 0x08,
  0x83, 0x42, 0x1b, 0x42, 0x23, 0x33, 0x4b, 0x00, 0xbc, 0x84, 0x0b, 0x40,
  0x33, 0x30, 0x83, 0x42, 0x0b, 0x42, 0xe0, 0x7f, 0xd1, 0x7f, 0x98, 0x2e,
  0x58, 0xb7, 0xd1, 0x6f, 0x80, 0x30, 0x40, 0x42, 0x03, 0x30, 0xe0, 0x6f,
  0xf3, 0x54, 0x04, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x01, 0x89, 0x62, 0x0e,
  0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30, 0xfb, 0x6f, 0xc0, 0x2e, 0x01, 0x42,
  0xb0, 0x5f, 0xc1, 0x4a, 0x00, 0x00, 0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e,
  0x00, 0x00, 0xe0, 0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff,
  0xff, 0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6,
  0xff, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1
};

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/****************************************************************************
 * Name: bmi270_configspi
 *
 * Description:
 *
 ****************************************************************************/

#ifdef CONFIG_SENSORS_BMI270_SPI
static void bmi270_configspi(FAR struct spi_dev_s *spi)
{
  /* Configure SPI for the BMI270 */

  SPI_SETMODE(spi, SPIDEV_MODE0);
  SPI_SETBITS(spi, 8);
  SPI_HWFEATURES(spi, 0);
  SPI_SETFREQUENCY(spi, BMI270_SPI_MAXFREQUENCY);
}
#endif

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: bmi270_getreg8
 *
 * Description:
 *   Read from an 8-bit BMI270 register
 *
 ****************************************************************************/

uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
  struct i2c_msg_s msg[2];
  uint8_t regval = 0;
  int ret;

  msg[0].frequency = priv->freq;
  msg[0].addr      = priv->addr;
  msg[0].flags     = I2C_M_NOSTOP;
  msg[0].buffer    = &regaddr;
  msg[0].length    = 1;

  msg[1].frequency = priv->freq;
  msg[1].addr      = priv->addr;
  msg[1].flags     = I2C_M_READ;
  msg[1].buffer    = &regval;
  msg[1].length    = 1;

  ret = I2C_TRANSFER(priv->i2c, msg, 2);
  if (ret < 0)
    {
      snerr("I2C_TRANSFER failed: %d\n", ret);
    }

  return regval;
#else /* CONFIG_SENSORS_BMI270_SPI */
  uint8_t regval[2];

  /* If SPI bus is shared then lock and configure it */

  SPI_LOCK(priv->spi, true);
  bmi270_configspi(priv->spi);

  /* Select the BMI270 */

  SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);

  /* Send register to read and get the next 2 bytes */

  SPI_SEND(priv->spi, regaddr | 0x80);
  SPI_RECVBLOCK(priv->spi, regval, 2);

  /* Deselect the BMI270 */

  SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);

  /* Unlock bus */

  SPI_LOCK(priv->spi, false);

  /* The first byte has to be dropped */

  return regval[1];
#endif
}

/****************************************************************************
 * Name: bmi270_putreg8
 *
 * Description:
 *   Write a value to an 8-bit BMI270 register
 *
 ****************************************************************************/

void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
                    uint8_t regval)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
  struct i2c_msg_s msg[2];
  uint8_t txbuffer[2];
  int ret;

  txbuffer[0] = regaddr;
  txbuffer[1] = regval;

  msg[0].frequency = priv->freq;
  msg[0].addr      = priv->addr;
  msg[0].flags     = 0;
  msg[0].buffer    = txbuffer;
  msg[0].length    = 2;

  ret = I2C_TRANSFER(priv->i2c, msg, 1);
  if (ret < 0)
    {
      snerr("I2C_TRANSFER failed: %d\n", ret);
    }

#else /* CONFIG_SENSORS_BMI270_SPI */
  /* If SPI bus is shared then lock and configure it */

  SPI_LOCK(priv->spi, true);
  bmi270_configspi(priv->spi);

  /* Select the BMI270 */

  SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);

  /* Send register address and set the value */

  SPI_SEND(priv->spi, regaddr);
  SPI_SEND(priv->spi, regval);

  /* Deselect the BMI270 */

  SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);

  /* Unlock bus */

  SPI_LOCK(priv->spi, false);
#endif
}

/****************************************************************************
 * Name: bmi270_getregs
 *
 * Description:
 *   Read cnt bytes from specified dev_addr and reg_addr
 *
 ****************************************************************************/

void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
                    FAR uint8_t *regval, int len)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
  struct i2c_msg_s msg[2];
  int ret;

  msg[0].frequency = priv->freq;
  msg[0].addr      = priv->addr;
  msg[0].flags     = I2C_M_NOSTOP;
  msg[0].buffer    = &regaddr;
  msg[0].length    = 1;

  msg[1].frequency = priv->freq;
  msg[1].addr      = priv->addr;
  msg[1].flags     = I2C_M_READ;
  msg[1].buffer    = regval;
  msg[1].length    = len;

  ret = I2C_TRANSFER(priv->i2c, msg, 2);
  if (ret < 0)
    {
      snerr("I2C_TRANSFER failed: %d\n", ret);
    }
#else /* CONFIG_SENSORS_BMI270_SPI */
  uint8_t dummy = 0;

  /* If SPI bus is shared then lock and configure it */

  SPI_LOCK(priv->spi, true);
  bmi270_configspi(priv->spi);

  /* Select the BMI270 */

  SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);

  /* Send register to read and get bytes */

  SPI_SEND(priv->spi, regaddr | 0x80);
  SPI_RECVBLOCK(priv->spi, &dummy, 1);
  SPI_RECVBLOCK(priv->spi, regval, len);

  /* Deselect the BMI270 */

  SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);

  /* Unlock bus */

  SPI_LOCK(priv->spi, false);
#endif
}

/****************************************************************************
 * Name: bmi270_putregs
 *
 * Description:
 *   Send cnt bytes for specified dev_addr and reg_addr
 *
 ****************************************************************************/

void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
                    FAR uint8_t *regval, int len)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
  struct i2c_msg_s msg[2];
  int ret;

  msg[0].frequency = priv->freq;
  msg[0].addr      = priv->addr;
  msg[0].flags     = I2C_M_NOSTOP;
  msg[0].buffer    = &regaddr;
  msg[0].length    = 1;

  msg[1].frequency = priv->freq;
  msg[1].addr      = priv->addr;
  msg[1].flags     = 0;
  msg[1].buffer    = regval;
  msg[1].length    = len;

  ret = I2C_TRANSFER(priv->i2c, msg, 2);
  if (ret < 0)
    {
      snerr("I2C_TRANSFER failed: %d\n", ret);
    }
#else /* CONFIG_SENSORS_BMI270_SPI */
  /* If SPI bus is shared then lock and configure it */

  SPI_LOCK(priv->spi, true);
  bmi270_configspi(priv->spi);

  /* Select the BMI270 */

  SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);

  /* Send register to read and get bytes */

  SPI_SEND(priv->spi, regaddr);
  SPI_SNDBLOCK(priv->spi, regval, len);

  /* Deselect the BMI270 */

  SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);

  /* Unlock bus */

  SPI_LOCK(priv->spi, false);
#endif
}

/****************************************************************************
 * Name: bmi270_set_normal_imu
 *
 * Description:
 *   set bmi270 to normal IMU mode.
 *
 ****************************************************************************/

void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv)
{
  /* Enable acquisition of acc and gyro */

  bmi270_putreg8(priv, BMI270_PWR_CTRL, PWRCTRL_GYR_EN | PWRCTRL_ACC_EN);
  up_mdelay(30);

  /* Set accel and gyro output data rate */

  bmi270_putreg8(priv, BMI270_ACC_CONFIG,
                 ACCEL_NORMAL_AVG4 | ACCEL_ODR_100HZ);
  bmi270_putreg8(priv, BMI270_GYR_CONFIG,
                 GYRO_NORMAL_MODE | GYRO_ODR_100HZ);

  /* Disable the adv_power_save bit */

  bmi270_putreg8(priv, BMI270_PWR_CONF, PWRCONF_FSW_ON);
}

/****************************************************************************
 * Name: bmi270_init_seq
 *
 * Description:
 *   set bmi270 to normal IMU mode.
 *
 ****************************************************************************/

int bmi270_init_seq(FAR struct bmi270_dev_s *priv)
{
  FAR uint8_t *tmp    = NULL;
  uint8_t      regval = 0;

  /* Check if initialization already done */

  regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT);
  if ((regval & INTSTAT_MSG_MASK) == INTSTAT_MSG_INITOK)
    {
      return OK;
    }

  /* Disable PWR_CONF.adv_power_save */

  bmi270_putreg8(priv, BMI270_PWR_CONF, 0);
  up_mdelay(5);

  /* Prepare config load INIT_CTRL=0x00 */

  bmi270_putreg8(priv, BMI270_INIT_CTRL, 0);

#ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP

  /* Copy configuration to RAM */

  tmp = kmm_malloc(sizeof(g_bmi270_config_file));
  if (tmp == NULL)
    {
      snerr("Failed to allocate memory for configuration file\n");
      return -ENOMEM;
    }

  memcpy(tmp, g_bmi270_config_file, sizeof(g_bmi270_config_file));

#else

  /* Transfer directly from const data memory */

  tmp = (FAR uint8_t *)&g_bmi270_config_file;

#endif

  /* Load configuration - start with byte 0 */

  bmi270_putregs(priv, BMI270_INIT_DATA,
                 tmp,
                 sizeof(g_bmi270_config_file));

#ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP
  kmm_free(tmp);
#endif

  /* Complete config load INIT_CTRL=0x01 */

  bmi270_putreg8(priv, BMI270_INIT_CTRL, 1);

  up_mdelay(150);

  /* Check initialization status */

  regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT);
  if ((regval & INTSTAT_MSG_MASK) != INTSTAT_MSG_INITOK)
    {
      snerr("Initialization failed status=%d\n", regval);
      return -EACCES;
    }

  return OK;
}

/****************************************************************************
 * Name: bmi270_checkid
 *
 * Description:
 *   Read and verify the BMI270 chip ID
 *
 ****************************************************************************/

int bmi270_checkid(FAR struct bmi270_dev_s *priv)
{
  uint8_t devid = 0;

  /* Read device ID  */

  devid = bmi270_getreg8(priv, BMI270_CHIP_ID);
  sninfo("devid: %04x\n", devid);

  if (devid != (uint16_t) DEVID)
    {
      /* ID is not Correct */

      return -ENODEV;
    }

  return OK;
}
